CN2359684Y

CN2359684Y - Frame type three-D force transducer

Info

Publication number: CN2359684Y
Application number: CN 98251146
Authority: CN
Inventors: 王国泰; 易秀芳; 王理丽
Original assignee: Institute of Intelligent Machines of CAS
Current assignee: Institute of Intelligent Machines of CAS
Priority date: 1998-12-26
Filing date: 1998-12-26
Publication date: 2000-01-19
Anticipated expiration: 2008-12-26

Abstract

The utility model relates to a sensor technology. The utility model has the structure that three frame structures form a three-dimension force sensor, the force sensing directions of the three frame structure are mutually vertical and are coincident with an X axis, Y axis and a Z axis of a rectangular coordinate system, and each frame is composed of two mutually parallel strain beams and two thick walls which are vertical with the two parallel strain beams, and thin pieces of connecting lines of intersection mid points of the thin pieces and thick pieces are stuck with strainers; one of the three frame structure can be taken off, and a two-dimension force sensor can be formed. The utility model has the advantages of easy fabrication, easy connection, high sensitivity, low coupling among the dimensions, high rigidity and high dynamic performance. The utility model is particularly suitable for combining with a finger of a robot.

Description

The frame-type three-dimensional force sensor

The utility model relates to sensor technology.

Three-dimensional force sensor can be measured three mutually perpendicular force components simultaneously.When sensor coordinate system adopted rectangular coordinate system, this sensor can be measured three force components of rectangular coordinate system.Three-dimensional force sensor is widely used in Robotics, lathe equipment and the various occasion that needs to measure multidimensional power.Usually coupling is difficult to get rid of between multidimensional power dimension, and precision is lower, and the multi-dimension force sensor volume is bigger.

The purpose of this utility model is, provide a kind of have highly sensitive, between dimension coupling low, volume is little, good rigidly, the three-dimensional force sensor that dynamic property is good.

The utility model adopts three framed structures to constitute complete sensors, and each framed structure is surveyed a component of force.The power sensitive direction of three framed structures is orthogonal, and is consistent with rectangular coordinate system X, Y, Z axle.Be made up of with two vertical with it heavy walls two strain beams parallel to each other on each framework, shape is similar to matchbox.Post four effectors on the thin slice of thin slice and sheet intersection mid point line, but effector is connected into the power of bridge circuit measuring vertical in thin slice, has two place's heavy walls to be connected between three frame-type elastic bodys, two remaining heavy walls promptly can be used as stiff end and afterburning end.Stiff end and afterburning end are interchangeable.

Three framed structures can be three workpiece, couple together with web member such as screw etc.; It also can be an one-piece construction; Also can be wherein two be that an integral body and another independently link up with connecting piece.

Below in conjunction with description of drawings it:

Fig. 1 is a structural drawing of the present utility model, among the figure 1,2,3,4,9,10,11,12,17,18,19,20---and foil gauge; 5,6,13,14,21,22---heavy wall; 7,8,15,16,23,24---strain beam; 22---the pedestal end; 6---afterburning end, A, B, C---framework.

The utility model is combined by A, B, three tower structures of C, is made up of with vertical with it

heavy wall

5,6,13,14,21,22 two strain beams parallel to each other 7,8,15,16,23,24 on every framework; On the thin slice of

strain beam

7,8,15,16,23,24 and

heavy wall

5,6,13,14,21,22 straight line mid points,

post effector

1,2,3,4,9,10,11,12,17,18,19,20; The heavy wall end 5 of A-Frame and the heavy wall end 13 of B framework link to each other between A, B, three frame-type elastic bodys of C, and the heavy wall end 14 of B framework links to each other with the heavy wall 21 of C framework;

Heavy wall

14 and 21 is made of one.A, B, three elastomeric sensitive axes of frame-type of C are orthogonal, and are consistent with rectangular coordinates X, Y, Z axle.

Three framework A, B, C of the present utility model remove one, as removing framework A in the accompanying drawing 1, then can make and survey X, the one-piece construction dimension sensor of Y component force.Three framed structures are removed framework C, then can make Y, the sleeve type dimension sensor of Z component power.

The utility model is except structure as shown in Figure 1, can also three frame-type elasticity be combined with other form, as shown in Figure 3, framework A to the Fz sensitivity, be contained among the framework B to the Fy sensor, a heavy wall end to the framework C of Fx sensitivity---as the pedestal end, and to the heavy wall end of the framework A of Fz sensitivity---as the reinforcing end.

Connection between the utility model framework can be used web member, also can be an integral body.Generally form a dynamometry bridge circuit on each framework, but the quantity of foil gauge can increase also and can subtract on the framework by four foil gauges.

The utility model three-dimensional force sensor is made up of three framework A, B, C, as shown in Figure 1.The sensitive axes of framework A is the Z axle, the sensitive axes of framework B is a Y-axis, the sensitive axes of framework C is an X-axis, one dimensional force sensor of framed structure has the power sensitivity to a direction, and to the moment-insensitive of power and three directions of other directions, and good rigidly on these directions is arranged, on-deformable characteristics.With framed structure in the utility model is example, as shown in Figure 2, is characterized in that heavy wall 5,6 is than thick many of strain beam 7,8.When along the Z-direction reinforcing in P during point, the P point moves along the Z direction, and the resistance of

foil gauge

1,2,3,4 takes place by corresponding the variation.Can measure the size and Orientation of power by suitable electric bridge.When along the Y direction reinforcing in P during point, framed structure is not yielding, and strain beam 7,8 is subjected to shearing force, and

foil gauge

1,2,3,4 is subjected to the stretching of non-sensitive direction and compression so resistance is constant.And the patch location of strainometer is on the axis of symmetry, even resistance changes, its variation is also identical, and bridge circuit is no-output also.When P point upper edge X axis is afterburning,

strainometer

1,2,3,4 is consistent elongating or shortening simultaneously, so also no-output of bridge circuit.For the moment of directions X, the framed structure distortion is little, and stress is little in the foil gauge position, and the stress direction is not the sensitive direction of foil gauge.For the moment of Y direction, foil gauge 1,2 is tension simultaneously, and 3,4 while pressurizeds, so the bridge circuit no-output.For the moment of Z direction, half is stretched each sheet in the

foil gauge

1,2,3,4 by the position, half by compression, so their resistance is constant, even and change, its variations is identical, and bridge circuit generation is exported.

The utility model utilizes the frame-type elastomer structure to be basic cell structure, and continuous at two place's heavy wall ends, has four heavy wall ends and is used for inner linking to each other, and other two heavy wall ends are as holding as pedestal and reinforcing.

In a word, the utility model can be an one-piece construction, also can be disome or three body structures, and its framework is changeable, profile can be elongated, and is crooked or suit, easy to process, is easy to link, highly sensitive, it is low to be coupled between dimension, good rigidly, and dynamic property is good.Be particularly suitable for being made in always and rise with the robot finger.The utility model can also reduce by a framework, makes 2 D force sensor.

Claims

1. a three-dimensional force sensor comprises foil gauge, heavy wall, pedestal, it is characterized in that, is to be formed by connecting by A, B, three tower structures of C:

A. form by two strain beams parallel to each other (7), (8), (15), (16), (23), (24) and vertical with it heavy wall (5), (6), (13), (14), (21), (22) on every framework;

B. post effector (1), (2), (3), (4), (9), (10), (11), (12), (17), (18), (19), (20) on the thin slice that in strain beam (7), (8), (15), (16), (23), (24) and heavy wall (5), (6), (13), (14), (21), (22) straight line, accounts for;

Between c.A, B, three frame-type elastic bodys of C, the heavy wall end (5) of A-Frame and the heavy wall end (13) of B framework link to each other, and the heavy wall end (14) of B framework links to each other with the heavy wall (21) of C framework, and heavy wall (14) and (21) are one;

D.A, B, three elastomeric sensitive axes of frame-type of C are orthogonal, and are consistent with rectangular coordinates X, Y, Z axle.

2. sensor as claimed in claim 1 is characterized in that, framework A can be contained among the framework B, forms the three-dimensional force sensor of another kind of form.

3. sensor as claimed in claim 1 is characterized in that, can remove framework A and make 2 D force sensor.

4. sensor as claimed in claim 2 is characterized in that removing framework C and makes 2 D force sensor.